diff --git a/launch/launch/actions/__init__.py b/launch/launch/actions/__init__.py
index ae0577e3..98da8e05 100644
--- a/launch/launch/actions/__init__.py
+++ b/launch/launch/actions/__init__.py
@@ -19,6 +19,7 @@
 from .emit_event import EmitEvent
 from .execute_local import ExecuteLocal
 from .execute_process import ExecuteProcess
+from .for_loop import ForLoop
 from .group_action import GroupAction
 from .include_launch_description import IncludeLaunchDescription
 from .log_info import LogInfo
@@ -45,6 +46,7 @@
     'EmitEvent',
     'ExecuteLocal',
     'ExecuteProcess',
+    'ForLoop',
     'GroupAction',
     'IncludeLaunchDescription',
     'LogInfo',
diff --git a/launch/launch/actions/for_loop.py b/launch/launch/actions/for_loop.py
new file mode 100644
index 00000000..54a46b66
--- /dev/null
+++ b/launch/launch/actions/for_loop.py
@@ -0,0 +1,113 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Module for the ForLoop action."""
+
+from typing import Callable
+from typing import List
+from typing import Optional
+from typing import Text
+
+
+from ..action import Action
+from ..launch_context import LaunchContext
+from ..launch_description_entity import LaunchDescriptionEntity
+from ..logging import get_logger
+from ..substitutions import LaunchConfiguration
+
+
+class ForLoop(Action):
+    """
+    Action that instantiates entities through a function N times based on a launch argument.
+
+    A DeclareLaunchArgument must be created before this action to define the number of iterations
+    in the for-loop, i.e., N iterations. For each loop iteration, the provided callback function is
+    called with the index value, going from 0 to N (exclusive).
+
+    Simple example:
+
+    .. code-block:: python
+
+        def for_i(i: int):
+            return [
+                LogInfo(msg=['i=', str(i)]),
+            ]
+
+        LaunchDescription([
+            DeclareLaunchArgument('num', default_value='2'),
+            ForLoop('num', function=for_i),
+        ])
+
+    This would ouput the following log messages by default:
+
+    .. code-block:: text
+
+        i=0
+        i=1
+
+    If the launch argument was set to 5 (num:=5), then it would output:
+
+    .. code-block:: text
+
+        i=0
+        i=1
+        i=2
+        i=3
+        i=4
+    """
+
+    def __init__(
+        self,
+        launch_argument_name: str,
+        *,
+        function: Callable[[int], Optional[List[LaunchDescriptionEntity]]],
+        **kwargs,
+    ) -> None:
+        """
+        Create a ForLoop.
+
+        :param launch_argument_name: the name of the launch argument that defines the length of the
+            for-loop
+        :param function: a function that receives an index value and returns entities
+        """
+        super().__init__(**kwargs)
+        self._launch_argument_name = launch_argument_name
+        self._function = function
+        self._logger = get_logger(__name__)
+
+    @property
+    def launch_argument_name(self) -> str:
+        return self._launch_argument_name
+
+    @property
+    def function(self) -> Callable[[int], Optional[List[LaunchDescriptionEntity]]]:
+        return self._function
+
+    def describe(self) -> Text:
+        return (
+            type(self).__name__ +
+            f"(launch_argument_name='{self._launch_argument_name}', function={self._function})"
+        )
+
+    def execute(self, context: LaunchContext) -> Optional[List[LaunchDescriptionEntity]]:
+        # Get the for-loop length and convert to int
+        num = int(LaunchConfiguration(self._launch_argument_name).perform(context))
+        self._logger.debug(f'for-loop length={num}')
+
+        entities = []
+        for i in range(num):
+            i_entities = self._function(i)
+            if i_entities:
+                entities.extend(i_entities)
+        return entities